dronekit 控制飞控上/下/前/后/左/右或是上/下/东/西/南/北

最新推荐文章于 2025-10-09 16:52:39 发布

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最新推荐文章于 2025-10-09 16:52:39 发布 · 7.1k 阅读

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本文详细介绍如何使用DroneKit的Python代码在Ardupilot和PX4平台上控制无人机进行上、下、前、后、左、右移动。文章提供了具体代码示例，包括如何通过socket连接在C程序和Python程序间发送指令，实现对无人机的精确控制。

1.ardupilot平台

对于ardupilot平台，dronekit的python代码可以这样编写实现上/下/前/后/左/右

from pymavlink import mavutil
from dronekit import connect, VehicleMode, LocationGlobalRelative
import time

def send_body_ned_velocity(velocity_x, velocity_y, velocity_z, duration=0):
    msg = vehicle.message_factory.set_position_target_local_ned_encode(
        0,       # time_boot_ms (not used)
        0, 0,    # target system, target component
        mavutil.mavlink.MAV_FRAME_BODY_NED, # frame Needs to be MAV_FRAME_BODY_NED for forward/back left/right control.
        0b0000111111000111, # type_mask
        0, 0, 0, # x, y, z positions (not used)
        velocity_x, velocity_y, velocity_z, # m/s
        0, 0, 0, # x, y, z acceleration
        0, 0)
    for x in range(0,duration):
        vehicle.send_mavlink(msg)
        time.sleep(1)

connection_string = '127.0.0.1:14540' # Edit to suit your needs.
takeoff_alt = 10
vehicle = connect(connection_string, wait_ready=True)
while not vehicle.is_armable:
    time.sleep(1)
vehicle.mode = VehicleMode("GUIDED")
vehicle.armed = True
while not vehicle.armed:
    print('Waiting for arming...')
    time.sleep(1)
vehicle.simple_takeoff(takeoff_alt) # Take off to target altitude
while True:
    print('Altitude: %d' %  vehicle.location.global_relative_frame.alt)
    if vehicle.location.global_relative_frame.alt >= takeoff_alt * 0.95:
        print('REACHED TARGET ALTITUDE')
        break
    time.sleep(1)

# This is the command to move the copter 5 m/s forward for 10 sec.
velocity_x = 0
velocity_y = 5
velocity_z = 0
duration = 10
send_body_ned_velocity(velocity_x, velocity_y, velocity_z, duration)

# backwards at 5 m/s for 10 sec.
velocity_x = 0
velocity_y = -5
velocity_z = 0
duration = 10
send_body_ned_velocity(velocity_x, velocity_y, velocity_z, duration)

vehicle.mode = VehicleMode("LAND")

通过调用send_body_ned_velocity方法，可以实现不同方向的指定运动。

2. PX4平台

由于项目需要，我将官网给的dronekit控制px4示例代码做了修改，由c编写的程序通过socket连接dronekit的python程序，发送指令向上/下/东/西/南/北移动，python程序接收后会执行相应操作。

示例代码：

c程序：

//
//  main.cpp
//  connect_python
//
//  Created by Qiucheng LIN on 2020/1/8.
//  Copyright © 2020 Qiucheng LIN. All rights reserved.
//

#include <iostream>
#include <unistd.h>//Linux系统下网络通讯的头文件集合
#include <sys/types.h>
#include <sys/socket.h>
#include <netdb.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <ctype.h>
#include <errno.h>
#include <netinet/in.h>
#include <arpa/inet.h>
#include <sys/ioctl.h>
#include <stdarg.h>
#include <fcntl.h>

int main(int argc, const char * argv[]) {
    //